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float32
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38.3
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int64
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1.15k
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int64
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19
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18.4k
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[ -33.67875671386719, -31.64556884765625, 40.28092575073242, 54.54956817626953, -34.5054931640625, 1.8322762250900269, 9.909198760986328, -75.14743041992188, 84.99774169921875, 50.338600158691406, 13.35775375366211, 8.944793701171875 ]
3.266667
98
0
98
0
[ -34.850746154785156, -28.920480728149414, 32.725616455078125, 54.51295852661133, -36.44712829589844, 2.3007395267486572, 10.29140567779541, -70.73170471191406, 78.25102233886719, 45.829750061035156, 13.22248649597168, 8.564436912536621 ]
[ -33.900814056396484, -30.886075973510742, 39.82781982421875, 54.54956817626953, -34.89621353149414, 2.1141648292541504, 9.909198760986328, -73.79949188232422, 84.27474212646484, 49.706546783447266, 13.2600736618042, 8.944793701171875 ]
3.3
99
0
99
0
End of preview. Expand in Data Studio

This dataset was created using LeRobot.

Dataset Structure

meta/info.json:

{
    "codebase_version": "v2.1",
    "robot_type": "bi_so101_follower",
    "total_episodes": 20,
    "total_frames": 18410,
    "total_tasks": 1,
    "total_videos": 60,
    "total_chunks": 1,
    "chunks_size": 1000,
    "fps": 30,
    "splits": {
        "train": "0:20"
    },
    "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
    "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
    "features": {
        "action": {
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            "names": [
                "left_shoulder_pan.pos",
                "left_shoulder_lift.pos",
                "left_elbow_flex.pos",
                "left_wrist_flex.pos",
                "left_wrist_roll.pos",
                "left_gripper.pos",
                "right_shoulder_pan.pos",
                "right_shoulder_lift.pos",
                "right_elbow_flex.pos",
                "right_wrist_flex.pos",
                "right_wrist_roll.pos",
                "right_gripper.pos"
            ]
        },
        "observation.state": {
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            "names": [
                "left_shoulder_pan.pos",
                "left_shoulder_lift.pos",
                "left_elbow_flex.pos",
                "left_wrist_flex.pos",
                "left_wrist_roll.pos",
                "left_gripper.pos",
                "right_shoulder_pan.pos",
                "right_shoulder_lift.pos",
                "right_elbow_flex.pos",
                "right_wrist_flex.pos",
                "right_wrist_roll.pos",
                "right_gripper.pos"
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        },
        "observation.images.wrist_right": {
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            "names": [
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                "video.width": 640,
                "video.codec": "av1",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 30,
                "video.channels": 3,
                "has_audio": false
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        },
        "observation.images.wrist_left": {
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            "shape": [
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            "names": [
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            "info": {
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        "observation.images.realsense_top": {
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        "timestamp": {
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            "names": null
        },
        "frame_index": {
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        },
        "episode_index": {
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        "index": {
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        "task_index": {
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    }
}

Citation

BibTeX:

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